Intelligent coating system for waterproof layer of bridge deck and coating method thereof

Abstract

The application discloses a kind of bridge waterproof layer intelligent coating systems, including carrying trolley and common installation on the carrying trolley storage system and coating system, carrying trolley includes carrying vehicle body and multiple walking wheels, power device is connected with each walking wheel respectively, to drive each walking wheel rotation;Storage system includes storage tank;Coating system includes cantilever, coating head and uniform coating brush, coating head and uniform coating brush are installed in the bottom of cantilever side by side, coating head is communicated with storage tank by conveying pipeline, to be used for spraying waterproof bonding material to bridge deck, uniform coating brush is used to brush waterproof bonding material that coating head sprays to bridge deck in the process of carrying trolley advancing.This application integrates multiple independent procedures of storage-transportation-spraying-manual leveling on carrying vehicle body, realizes the synchronization operation of whole process, avoids the quality defect caused by skin or solidification in the process of waiting manual leveling, significantly improves the coverage rate of single machine operation.

Description

Technical Field

[0001] This invention belongs to the field of bridge construction equipment, and more specifically, relates to an intelligent coating system and coating method for bridge deck waterproofing layer. Background Technology

[0002] As vital transportation infrastructure, the durability and safety of bridges have always been a focus of attention in the engineering field. In bridge construction, the waterproof bonding layer on the bridge deck, located between the pavement and the top surface of the concrete main beam, plays a crucial role in preventing moisture penetration, enhancing interlayer adhesion, and absorbing shear stress. Currently, two-stage reactive epoxy resin adhesive waterproofing materials have become widely used waterproofing materials for long-span bridges and high-grade highway bridges due to their excellent impermeability, high bonding strength, and good thermal stability. This material is typically composed of epoxy resin and curing agent components mixed in a specific ratio, applied on the shot-blasted concrete surface at the construction site, and forms a dense waterproof membrane after curing.

[0003] However, existing bridge deck waterproofing coating construction methods have many significant drawbacks and shortcomings in actual operation, which seriously restrict the construction quality and efficiency of bridge projects: 1) Traditional bridge deck waterproofing coating relies heavily on manual hand-held spray guns or simple push-type semi-automatic equipment. Due to the complex working environment on bridge decks, manual operation is greatly affected by physical strength, mood, and skill level. It is difficult to maintain a constant spraying height, angle, and moving speed during manual spraying, which easily leads to localized over-thickness (over-coating) or under-coating (missed coating). Over-coating not only wastes material but may also lead to a decrease in interlayer shear strength due to incomplete curing; while missed coating creates weak points in the waterproofing, allowing moisture to easily seep into the main beam and induce steel corrosion.

[0004] 2) The construction design requirements specify strict standards for coating quality (coating rate) per square meter. However, the travel speed and spraying flow rate of existing equipment are often independent of each other. When the equipment travel speed fluctuates, or when the flow rate changes due to changes in the pressure of the storage tank, the system cannot automatically compensate and adjust, resulting in a large deviation between the actual coating rate and the design value, making it difficult to meet the high-precision construction specifications. Summary of the Invention

[0005] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides an intelligent coating system and coating method for bridge deck waterproofing layer, which can be adapted to the bridge deck working environment and has good coating effect.

[0006] To achieve the above objectives, according to one aspect of the present invention, an intelligent coating system for bridge deck waterproofing is provided, comprising a carrier trolley and a material storage system and a coating system jointly installed on the carrier trolley, wherein: The carrier trolley includes a carrier body, a power unit and multiple wheels mounted on the carrier body, and the power unit is connected to each of the wheels to drive each wheel to rotate, thereby adjusting the travel speed of the carrier body. The storage system includes storage tanks for storing waterproof adhesive materials; The coating system includes a cantilever, a coating head, and a leveling brush. The cantilever is mounted on the carrying trolley, and the coating head and the leveling brush are mounted side by side on the cantilever. The coating head includes multiple nozzles arranged in a row along a straight line parallel to the centerline of the traveling wheels. The coating head is connected to the storage tank via a delivery pipe for spraying waterproof adhesive material onto the bridge deck. The distance from the leveling brush to the rear end of the carrying trolley is less than the distance from the coating head to the rear end of the carrying trolley, so that the waterproof adhesive material sprayed onto the bridge deck by the coating head can be brushed onto the bridge deck during the forward movement of the carrying trolley.

[0007] Preferably, it also includes a navigation and positioning system, which includes multiple electronic beacons placed at the four corners of the area to be coated. The controller identifies the signals emitted by these electronic beacons to realize the delineation of the area to be coated and the automatic planning of the coating route.

[0008] Preferably, the delineation of the coating area and the automatic planning of the coating route are as follows: 1) Electronic beacons are placed at the four corners of the area to be coated on the bridge deck, and the controller on the trolley establishes a local coordinate system; The controller obtains the coordinates of the electronic beacons set at the four corners of the area to be coated, namely the coordinates of the first electronic beacon XB1 (X1,Y1), the second electronic beacon XB2 (X1,Y2), the third electronic beacon XB3 (X2,Y3), and the fourth electronic beacon XB4 (X2,Y4). The line connecting the first electronic beacon and the fourth electronic beacon is line segment a, the line connecting the second electronic beacon and the third electronic beacon is line segment b, the line connecting the first electronic beacon and the second electronic beacon is line segment c, and the line connecting the third electronic beacon and the fourth electronic beacon is line segment d. Let the simply connected region enclosed by line segments a, b, c and d be the area to be coated. Take the direction parallel to line segment c as the main driving direction of the trolley, and the directions parallel to line segment a and line segment b as the secondary driving directions; 2) Define the distance between line segment c and line segment d as the width W of the area to be coated, then W = X2 - X1; the width of a single coating pass in the coating system is w. t The number of paint lines in the main driving direction is n, where n = W / w t ; 3) The coating route is composed of multiple navigation points connected together. The navigation starting point of the coating route is defined as d. s The navigation destination is d. e Set navigation starting point d s On line segment a; If the number of painted paths n is odd, then the navigation endpoint d e Located on line segment b; If the number of painted paths n is even, then the navigation endpoint d e Located on line segment a; 4) The coordinates of the navigation start point, navigation end point, and each navigation point between the navigation start point and navigation end point on the coating route are calculated according to the following formula: 4.1) Navigation starting point d s coordinates ( , )as follows: ; 4.2) Navigation destination d e coordinates ( , )as follows: When it is an odd number: ; When it is even: ; 4.3) Each navigation point adjacent to line segment a is defined as da. i Where i takes the value 1, 2, 3...n-1 or 1, 2, 3...n-2, and when n is odd, the maximum value of i is n-1, and when n is even, the maximum value of i is n-2; Then the navigation points da of the adjacent line segment a i coordinates ( , )as follows: ; 4.4) Each navigation point adjacent to line segment b is defined as db. j ,in The value of is 1, 2, 3...n-1; then the navigation points db of the adjacent line segment b... j coordinates ( , The calculation is as follows: .

[0009] Preferably, it also includes a pressure system for introducing gas into the storage tank to increase the gas pressure inside the storage tank, so as to control the spraying flow rate of the coating head. The controller automatically calculates and adjusts the spraying flow rate of the coating head and the travel speed of the carrier trolley based on the set coating rate.

[0010] Preferably, the relationship between the traveling speed V of the carrying trolley and the spraying flow rate Q of the coating head is as follows: ; Where Q is the spray flow rate of the coating head, in meters per second (m³). 3 / min; A represents the epoxy resin coating rate of the bridge deck, in kg / m². 2 ; B is the width of the uniform coating brush, which is parallel to the center line of the traveling wheel, and the unit is meters. ρ represents the density of the waterproof adhesive material, in kg / m³. 3 .

[0011] Preferably, it also includes a temperature control system, which consists of an automatic heating device surrounding the storage tank and a temperature sensor located at the bottom of the storage tank. The temperature sensor transmits the detected temperature to a controller, which controls the automatic heating device to heat the storage tank based on the temperature detected by the temperature sensor, thereby heating the waterproof adhesive material inside the storage tank.

[0012] Preferably, the system also includes a monitoring and early warning system, which includes a ranging radar installed at the front of the carrier vehicle. The ranging radar is used to monitor obstacles in front of the carrier vehicle in real time. When the ranging radar detects an obstacle that cannot be passed, it transmits the detection signal to the controller, which issues an audible warning and controls the carrier vehicle to stop within a safe distance.

[0013] Preferably, it also includes a weighing device installed between the storage tank and the carrying trolley to monitor the weight of the waterproof adhesive material in the storage tank in real time and transmit the monitored weight data to the controller. When the remaining amount of waterproof adhesive material in the storage tank is insufficient, the controller issues an audible signal and controls the carrying trolley to stop.

[0014] Preferably, one end of the cantilever is hinged to the carrier body and the other end is hinged to the output shaft of the electric push rod, which is hinged to the carrier body to adjust the angle of the cantilever, thereby adjusting the height of the coating head and the spraying angle. The coating head uses a flat nozzle. The uniform coating brush is made of nylon bristles, and the width of the brush is matched with the nozzle arrangement range of the coating head. The uniform coating brush is connected to the cantilever via a spring assembly to automatically adjust the contact pressure between the uniform coating brush and the bridge surface, ensuring uniform and consistent coating.

[0015] According to another aspect of the present invention, a coating method for the aforementioned intelligent coating system for bridge deck waterproofing is also provided, comprising the following steps: 1) Clean the bridge surface by sweeping, shot blasting and cleaning, and place multiple electronic beacons at the corners of the area to be coated; 2) Open the sealed lid of the storage tank, add the stirred waterproof adhesive material into the storage tank, close the sealed lid, set the coating rate parameter through the controller, and move the carrier trolley to the starting point of the coating route; 3) The controller identifies the signals emitted by each of the electronic beacons, automatically delineates the coating area and plans the coating route, and starts after confirming that there are no errors; 4) The controller adjusts the pressure intensity of the pressure system and the travel speed of the carrier trolley according to the set coating rate, and controls the posture of the cantilever by an electric push rod installed between the cantilever and the carrier body, thereby adjusting the height and angle of the coating head; 5) The waterproof adhesive material in the storage tank is transported to the coating head through the conveying pipeline. The coating head applies the waterproof adhesive material to the bridge surface, and the brush simultaneously smooths the waterproof adhesive material on the bridge surface. 6) Once the coating of all areas to be coated is completed, or once the waterproof adhesive material in the storage tank is used up, the carrying trolley will automatically stop.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1) The present invention provides an intelligent coating system for bridge deck waterproofing, which integrates the power unit, multiple wheels, material storage system and coating system into a single vehicle body. Through this precise integrated architecture, large-area, high-quality bridge deck waterproofing layer automated construction can be achieved, ensuring project quality and achieving a leapfrog improvement in production efficiency.

[0017] 2) The present invention provides an intelligent coating system for a bridge deck waterproofing layer. A cantilever is mounted on a supporting trolley, with the coating head and a leveling brush installed side-by-side at the bottom of the cantilever. This ensures that the leveling brush closely follows the spraying trajectory of the coating head as the supporting trolley moves forward. The immediate intervention of the leveling brush allows for physical spreading of the material before its viscosity significantly increases, using mechanical force to overcome the surface tension of the droplets and promote its penetration into the micropores of the bridge deck. The side-by-side installation layout allows the spraying and brushing actions to occur on the same time axis. The leveling brush forcibly smooths out any peaks and troughs that may form during the spraying process through physical contact. This mechanical intervention effect forces the material to be distributed to low-lying areas, thereby eliminating thickness deviations caused by uneven atomization of the nozzle or overlapping sprayed areas.

[0018] 3) The intelligent coating system for bridge deck waterproofing of this invention applies a downward vertical force to the subsequent brushing action of the even coating brush. This mechanical compaction helps to squeeze the polymer adhesive material into the microporous structure of the concrete, forming an anchoring effect similar to a pin, which greatly improves the shear strength of the waterproofing layer and the top surface of the main beam. At the same time, the brushing process can expel residual air between the waterproof adhesive material and the substrate interface, reduce defects caused by air bubbles, and improve the anti-permeability pressure of the bridge deck waterproofing layer formed by the waterproof adhesive material.

[0019] 4) The intelligent coating system for bridge deck waterproofing of this invention integrates multiple independent processes—material storage, material transportation, spraying, and leveling—onto a single vehicle body, achieving synchronized operation throughout the entire process. This integrated design significantly reduces waiting time between processes, avoids quality defects caused by skinning or curing of materials while waiting for manual leveling, and significantly improves the coverage rate of single-machine operation. The mechanized linkage mechanism eliminates the arbitrariness of manual operation. Since the power unit, traveling wheels, and coating components are within the same physical framework, the system's operating parameters (such as travel speed and spraying parameters) have a natural correlation. This lays a solid physical foundation for subsequent precise digital control, ensuring that long-distance bridge deck waterproofing layers have completely identical physical properties. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 A schematic diagram of path planning when the number of coating lanes n is odd; Figure 3 A schematic diagram of path planning when the number of coating lanes n is even; In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Carrying trolley; 2. Storage tank; 3. Sealing cover; 4. Pressure system; 5. Weighing device; 6. Automatic heating device; 7. Cantilever; 8. Coating head; 9. Uniform coating brush; 11. Controller; 12. Ranging radar; 13. Battery assembly; 14. Conveying pipeline. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] Reference Figure 1 A smart coating system for waterproofing bridge decks includes a carrier trolley 1 and a material storage system and a coating system jointly installed on the carrier trolley 1.

[0023] The carrier trolley 1 includes a carrier body, a power unit and multiple wheels mounted on the carrier body, and the power unit is connected to each of the wheels to drive each wheel to rotate, thereby adjusting the travel speed of the carrier body.

[0024] The storage system includes a storage tank 2 for storing waterproof adhesive material; the waterproof adhesive material of the present invention is preferably a two-stage reactive epoxy resin adhesive.

[0025] The coating system includes a cantilever 7, a coating head 8, and a leveling brush 9. The cantilever 7 is mounted on the carrying trolley 1. The coating head 8 and the leveling brush 9 are mounted side by side on the cantilever 7. The coating head 8 includes multiple nozzles arranged in a row along a straight line parallel to the centerline of the traveling wheels. The coating head 8 is connected to the storage tank 2 via a delivery pipe 14 for spraying waterproof adhesive material onto the bridge deck. The distance from the leveling brush 9 to the rear end of the carrying trolley 1 is less than the distance from the coating head 8 to the rear end of the carrying trolley 1, so that the waterproof adhesive material sprayed onto the bridge deck by the coating head 8 can be brushed onto the bridge deck during the forward movement of the carrying trolley 1.

[0026] This invention, through the spatial configuration optimization and functional linkage of the carrying trolley 1, the material storage system, and the coating system, solves the three major technical challenges of precise delivery, uniform spreading, and deep penetration of polymer waterproofing materials in complex bridge deck environments at the physical level. The resulting technical effects are not only reflected in the highly uniform coating thickness and significantly improved interfacial adhesion, but also in the establishment of a standardized mechanical construction benchmark, fundamentally ensuring the durability and safety of waterproofing projects for long-span bridges.

[0027] Furthermore, it also includes a navigation and positioning system, which includes multiple electronic beacons placed at the four corners of the area to be coated. The controller identifies the signals emitted by these electronic beacons to realize the delineation of the area to be coated and the automatic planning of the coating route.

[0028] This local positioning mechanism based on electronic beacons provides centimeter-level absolute position feedback for the carrier vehicle 1. In complex bridge construction sites, this local reference is unaffected by interference from surrounding metal structures or obstructions on distant satellite signals, ensuring the continuity and stability of the positioning signal. By identifying corner beacon signals, the controller can automatically delineate the work boundary using mathematical algorithms. This technical feature ensures that the coating system's perception of the work surface is improved from fuzzy estimation to geometric quantification, providing precise spatial constraints for subsequent coating operations.

[0029] The electronic beacon of the navigation and positioning system uses a wireless radio frequency beacon with an effective signal transmission distance of 60m and a positioning accuracy of 0.05m. In this embodiment, four electronic beacons are set according to the requirements of the rectangular area to be coated. The controller 11 adopts a PLC controller with an integrated touch operation interface, which can display parameters such as coating rate, spraying flow rate, vehicle speed, colloid balance, and work progress in real time. Operators can directly set parameters, confirm routes, and start and stop equipment through the interface.

[0030] The automatically planned route can precisely set the overlap distance between adjacent coating widths. For thickness-sensitive materials such as two-stage reactive epoxy adhesives, standardized overlap paths ensure good physical fusion of the wet film at the overlap points, avoiding stress concentration caused by excessive overlap, thereby improving the overall structural strength of the waterproof layer.

[0031] Electronic beacons and signal recognition mechanisms replace traditional manual line laying and visual guidance. This provides the physical basis for the system to operate fully automatically within a preset area. Operators only need to place the initial beacons, and the system can autonomously complete the entire path operation from start to finish, greatly reducing labor costs and operational intensity during construction. The real-time location data provided by the navigation and positioning system can be used to record the area and trajectory of the completed coating. This technological feature makes the construction quality traceable and can accurately calculate the actual coating rate of the work area.

[0032] By strategically arranging beacon locations, the system can quickly adapt to rectangular, trapezoidal, or other regular polygonal work surfaces. This flexibility ensures that, in large-scale bridge construction, waterproofing layers from different sections or construction stages can be seamlessly connected through precise path planning, eliminating weak joints caused by construction interruptions.

[0033] Furthermore, the delineation of the coating area and the automatic planning of the coating route are detailed as follows: 1) Electronic beacons are placed at the four corners of the area to be coated on the bridge deck, and the controller on the carrier trolley 1 establishes a local coordinate system; the XOY plane of the local coordinate system is the horizontal plane, and the Z axis of the local coordinate system is the vertical direction.

[0034] The local coordinate system can take the location of any electronic beacon as the origin, or a known fixed point on the bridge structure as the origin, or the initial parking position of the trolley as the origin.

[0035] For example, if the location of the first electronic beacon XB1 is taken as the origin of the coordinate system, then the horizontal direction from the first electronic beacon XB1 to the second electronic beacon XB2 is taken as the positive direction of the Y-axis, and the direction perpendicular to the Y-axis in the horizontal plane is taken as the positive direction of the X-axis, thereby determining the geometric position (coordinates) of each electronic beacon and the area to be coated in the local coordinate system. The coordinates of the electronic beacons set at the four corners of the area to be coated are the coordinates of the first electronic beacon XB1 (X1, Y1), the second electronic beacon XB2 (X1, Y2), the third electronic beacon XB3 (X2, Y3), and the fourth electronic beacon XB4 (X2, Y4). The line connecting the first and fourth electronic beacons is line segment a, the line connecting the second and third electronic beacons is line segment b, the line connecting the first and second electronic beacons is line segment c, and the line connecting the third and fourth electronic beacons is line segment d. The simply connected region enclosed by line segments a, b, c, and d is used as the area to be coated. The projection of this simply connected region onto the XOY plane is either rectangular or trapezoidal. The projections of line segments c and d onto the XOY plane are parallel to each other. The projections of line segments a and b onto the XOY plane can be parallel (the projection of the simply connected region onto the XOY plane is rectangular) or non-parallel (the projection of the simply connected region onto the XOY plane is trapezoidal).

[0036] Take the direction parallel to line segment c as the main driving direction of the trolley 1, and the directions parallel to line segment a and line segment b as the secondary driving directions; 2) Define the distance between line segment c and line segment d as the width W of the area to be coated, then W = X2 - X1; the width of a single coating pass in the coating system is w. t The number of paint lines in the main driving direction is n, where n = W / w t ;w t The preferred value is 0.8~1.0m; 3) The coating route is composed of multiple navigation points connected together. The navigation starting point of the coating route is defined as d. s The navigation destination is d. e Set navigation starting point d sOn line segment a; If the number of painted paths n is odd, then the navigation endpoint d e Located on line segment b; If the number of painted paths n is even, then the navigation endpoint d e Located on line segment a; 4) The coordinates of the navigation start point, navigation end point, and each navigation point between the navigation start point and navigation end point on the coating route are calculated according to the following formula: 4.1) Navigation starting point d s coordinates ( , )as follows: ; 4.2) Navigation destination d e coordinates ( , )as follows: When it is an odd number: ; When it is even: ; 4.3) Each navigation point adjacent to line segment a is defined as da. i Where i takes the value 1, 2, 3...n-1 or 1, 2, 3...n-2, and when n is odd, the maximum value of i is n-1, and when n is even, the maximum value of i is n-2; Then the navigation points da of the adjacent line segment a i coordinates ( , )as follows: ; 4.4) Each navigation point adjacent to line segment b is defined as db. j ,in The value of is 1, 2, 3...n-1; then the navigation points db of the adjacent line segment b... j coordinates ( , The calculation is as follows: .

[0037] This invention provides a precise digital spatial reference and logical execution framework for the automated construction of bridge deck waterproofing layers by establishing a method that combines local positioning based on electronic beacons with geometric analysis.

[0038] This invention utilizes four electronic beacons (XB1, XB2, XB3, XB4) positioned at the corners of the coating area. This allows the system to identify and establish a spatial model based on an absolute coordinate system. This local positioning mechanism provides centimeter-level real-time position feedback for the carrier vehicle 1. Furthermore, the use of electronic beacon signal recognition ensures that the positioning process is unaffected by interference from complex metal structures of bridges or external obstructions on distant satellite signals, guaranteeing the continuity and robustness of the positioning signal throughout the entire construction process. Defining the area enclosed by the lines connecting the four coordinate points as a simply connected region mathematically eliminates spatial ambiguity on the work surface, providing a quantified, precise, and closed spatial boundary constraint for subsequent coating operations.

[0039] This invention defines the width W of the area to be coated and the single coating width w of the device. t Based on the mathematical proportional relationship, the number of coating lanes n in the main driving direction is automatically calculated. This feature ensures that the coating system's perception of the work surface is upgraded from qualitative estimation to quantitative analysis. The navigation endpoint d is determined based on the parity logic of the number of lanes n. e The location ensures the logical integrity and closed loop of the work path, enabling the system to automatically match the optimal driving trajectory (such as a continuous S-shaped path) regardless of the width of the work surface, avoiding uneven path overlap or blind spots.

[0040] The navigation starting point d provided by this invention s End point d e And the navigation points on each side. i db j The coordinate calculation formula, through precise connection of coordinate points, constructs a highly consistent driving trajectory. This algorithm-generated standardized path can accurately set the overlap distance between adjacent coating widths. This mechanized path-driven mechanism eliminates random deviations caused by human operation, ensuring the macroscopic uniformity of the waterproof layer throughout the entire work area and avoiding localized material accumulation or exposure of the substrate.

[0041] This invention replaces traditional manual layout and visual guidance by recognizing beacon signals and automatically performing coordinate calculations. Operators only need to place the initial electronic beacons, and the system can autonomously plan the entire path from start to finish, significantly reducing construction intensity. Simultaneously, the automatically planned route effectively reduces unnecessary back-and-forth travel and trajectory deviations, achieving maximum coverage of the work area and shortening the single-machine operation cycle.

[0042] This invention, through flexible placement of beacon positions and real-time calculation using coordinate formulas, enables the system to quickly adapt to complex work surfaces such as rectangles, trapezoids, or other regular polygons. This flexibility in the mathematical model ensures that, in the segmented construction of large bridges, the waterproofing layers in different work areas can be seamlessly integrated through precise path connections, guaranteeing the overall structural strength and impermeability of the waterproofing layer from a geometric planning perspective.

[0043] Furthermore, it also includes a pressure system 4, which is used to introduce gas into the storage tank 2 to increase the gas pressure inside the storage tank 2, so as to control the spraying flow rate of the coating head 8. The controller automatically calculates and adjusts the spraying flow rate of the coating head 8 and the travel speed of the carrier trolley 1 based on the set coating rate.

[0044] For high-viscosity, non-Newtonian fluid waterproof adhesives such as second-order reactive epoxy resin adhesives, maintaining a constant flow rate is often difficult using gravity or simple mechanical pumping. By filling the sealed storage tank 2 with compressed gas, the system establishes a precisely adjustable pressure environment. This pneumatic pressurization method effectively counteracts pressure fluctuations caused by a drop in material level, ensuring that the material remains in a laminar flow state in the delivery pipeline 14, thereby achieving a linear and stable output of spray flow at the nozzle outlet.

[0045] When changes in ambient temperature affect the viscosity of the material, pressure system 4 can serve as a key adjustment lever. By adjusting the pressure of the incoming gas, the controller can compensate in real time for the flow rate reduction caused by changes in the internal friction of the material, ensuring that the sprayed liquid curtain maintains the designed geometry under different temperature conditions.

[0046] The coating rate is the most critical indicator for evaluating the quality of the bridge deck waterproofing layer. This solution establishes a closed-loop linkage between flow rate (Q) and vehicle speed (V). When the speed of the trolley 1 inevitably fluctuates due to the bridge deck slope or minor obstacles, the controller can respond in milliseconds and synchronously adjust the intensity of the pressure system 4 to change the spraying flow rate, thereby ensuring that the mass of polymer material covering each square meter of the bridge deck remains constant at the set value.

[0047] Because the flow rate and velocity are strictly controlled mathematically, the system completely eliminates localized buildup or excessive thinning caused by unstable equipment operation. This dynamic adjustment capability results in a uniform thickness distribution of the cured waterproof membrane on a macroscopic scale, greatly improving the waterproof layer's impermeability and mechanical strength under extreme conditions.

[0048] Through its automatic calculation function, the system can pre-calculate the total amount of material required based on the planned path and set parameters. During operation, precise pressure adjustment avoids ineffective material spraying, achieving an intelligent on-demand supply mode, which is extremely economical for high-cost specialty epoxy adhesive materials.

[0049] While calculating the flow rate, the controller continuously monitors the real-time gas pressure inside storage tank 2. In the event of an abnormal pressure (such as pipeline blockage or gas leakage), the system can immediately identify the mismatch between flow rate and pressure, and issue an early warning or execute a pause command, effectively preventing construction quality accidents and ensuring the long-term stable operation of the entire precision system.

[0050] Furthermore, the relationship between the traveling speed V of the carrying trolley 1 and the spraying flow rate Q of the coating head 8 is as follows: ; Where Q is the spray flow rate of coating head 8, in meters per second (m³). 3 / min; A represents the epoxy resin coating rate of the bridge deck, in kg / m². 2 ; B is the width of the even coating brush 9, which is parallel to the center line of the traveling wheel, and the unit is m; ρ represents the density of the waterproof adhesive material, in kg / m³. 3 .

[0051] The above formula provides core logical support for the precise construction of bridge deck waterproofing layers by establishing cross-dimensional relationships between flow rate, velocity, coating rate, and material physical properties.

[0052] This invention establishes a rigorous quality control closed loop by introducing a complete set of parameters, including the density ρ of the waterproof adhesive material, the spraying flow rate Q of the coating head 8, the preset coating rate A, and the width b of the even coating brush 9. This ensures that the mass of material sprayed per unit time is equal to the mass of material required to cover the area per unit time. This feature ensures that the system can bypass complex intermediate fluid variables and directly perform real-time calculations guided by the final coating rate. Even if changes in the bridge deck slope cause fluctuations in the vehicle's speed V during construction, or if adjustments to the pressure system 4 cause changes in the flow rate Q, the controller can perform compensation calculations based on this mathematical model at the millisecond level, thereby ensuring that the material coverage on each square meter of the bridge deck is precisely locked at the set value A.

[0053] The above formula is for materials such as second-order reactive epoxy resins, which have non-Newtonian fluid properties and are highly sensitive to temperature. Their density ρ and flowability may be slightly adjusted under different operating conditions. Incorporating the density parameter ρ into the calculation model enables the controller to compensate for the material's physical properties. Combined with the adjustment mechanism of pressure system 4, the controller can utilize the proportional relationship in the formula to maintain the stability of Q by adjusting the pressure when ambient temperature fluctuations cause changes in the material's internal friction, or conversely, adjust V to match the current flow output. This dynamic adjustment effect ensures that the wet film thickness of the waterproof layer remains highly consistent across different temperature ranges, eliminating construction defects caused by fluctuations in the material's physical properties.

[0054] The introduction of the uniform brush width B reflects the integrated consideration of spraying and smoothing width. Because this formula strictly defines the product of the working width and the driving speed, it ensures that the distribution pressure of the waterproof adhesive material remains uniform during the initial film formation stage. A stable coating rate A directly contributes to the uniformity of the macroscopic thickness of the waterproof membrane, which is crucial for preventing stress concentration caused by uneven thickness during the curing process. This high-precision thickness control ensures that the penetration depth of the waterproof material in the micropores of the bridge deck remains consistent, thereby forming a shear-resistant anchoring structure with identical physical properties across the entire working surface, significantly improving the fatigue life of the waterproof system under extreme vehicle loads.

[0055] This invention eliminates material waste caused by ineffective spraying and excessive local thickness by using a precise Q to V ratio. For high-value epoxy bonding materials, this on-demand supply model based on a precise algorithm enables accurate pre-control of construction costs. Simultaneously, based on real-time operational data recorded by this formula, the system can automatically calculate the actual material consumption for each section, providing a digital and traceable basis for quality acceptance in high-standard bridge engineering.

[0056] Furthermore, it also includes a temperature control system, which consists of an automatic heating device 6 surrounding the storage tank 2 and a temperature sensor located at the bottom of the storage tank 2. The temperature sensor transmits the detected temperature to a controller, which controls the automatic heating device 6 to heat the storage tank 2 based on the temperature detected by the temperature sensor, thereby heating the waterproof adhesive material inside the storage tank 2.

[0057] The automatic heating device 6 surrounding the storage tank 2 provides a highly uniform thermal environment for the waterproof adhesive material.

[0058] Waterproof adhesives such as second-order reactive epoxy resin adhesives are extremely sensitive to temperature, with their viscosity decreasing exponentially as temperature increases. By adjusting the heating output in real time through a controller, the system can maintain the material within its optimal application viscosity range. This viscosity stability ensures excellent flowability of the material in the delivery pipeline 14, significantly reducing the delivery resistance of the power system and ensuring that the material forms a uniform, continuous, and fine liquid curtain or atomization effect upon spraying.

[0059] A stable temperature gradient eliminates local viscosity differences in the material inside storage tank 2, preventing wall adhesion or pumping pulsation caused by localized overcooling of the material. This consistency in flow directly translates into extremely high stability of the spray flow rate, ensuring uniformity of coating thickness from the source of physical properties.

[0060] The temperature control system heats the material to a suitable temperature, effectively reducing the interfacial tension between the polymer liquid and the concrete substrate. The heated waterproof adhesive material exhibits stronger spreading ability, allowing it to penetrate more quickly into the micropores of the shot-blasted bridge deck. This deep micro-wetting significantly enhances the van der Waals forces and mechanical interlocking forces between the waterproof layer and the main beam, thereby greatly strengthening the shear strength of the waterproof system. Moderate heating helps reduce the surface tension of the material, making it easier for micro-air bubbles trapped during spraying to escape from the coating. Combined with the heat energy provided by the temperature control system, sufficient leveling time is ensured before the material cures, resulting in a dense, non-porous, and defect-free waterproof membrane on the bridge deck, significantly improving its resistance to water pressure.

[0061] The curing reaction of second-order reactive epoxy resin adhesives is an exothermic process and is greatly affected by the initial temperature. The temperature control system, through real-time feedback from a bottom temperature sensor, ensures that the material entering the spraying stage is at the preset temperature level. This consistency in thermodynamic benchmarks makes the chemical cross-linking rate of the material after it is laid on the bridge deck predictable, ensuring that the waterproof layer reaches its design strength within a predetermined time and guaranteeing standardized construction progress and quality. This system enables the intelligent coating machine to operate under different ambient temperatures, offsetting the negative impact of cold external environments on material activity through a thermal compensation mechanism. This not only extends the effective construction season but also ensures that the construction quality of the waterproof layer remains exactly the same during morning, night, or low-temperature periods as it is during high-temperature periods, achieving truly high-quality construction across the entire temperature range.

[0062] The surrounding layout enables large-area, low-gradient uniform heating, avoiding damage to the tank structure from local thermal stress, while also maximizing thermal energy utilization efficiency and reducing the overall power consumption of the system.

[0063] Furthermore, it also includes a monitoring and early warning system, which includes a ranging radar 12 installed at the front of the carrier trolley 1. The ranging radar 12 is used to monitor obstacles in front of the carrier trolley 1 in real time. When the ranging radar 12 detects an obstacle that cannot be passed, it transmits the detection signal to the controller, which issues an audible warning and controls the carrier trolley 1 to stop within a safe distance.

[0064] The ranging radar 12 of the monitoring and early warning system is an ultrasonic ranging radar with a detection range of 0.1~8m and a detection accuracy of 0.01m. It is installed at the front of the carrier trolley 1. The preset safe distance is 0.2m. When an obstacle is detected at a distance of less than 0.2m, the ranging radar 12 sends a signal to the controller 11. The controller 11 immediately controls the buzzer to emit an 85dB audible warning and controls the carrier trolley 1 to stop moving.

[0065] The ranging radar 12 can scan the space ahead of the vehicle's path in real time and continuously, accurately capturing various targets, including construction workers, engineering machinery, material piles, or sudden obstacles on the bridge surface. This dynamic monitoring capability ensures that the system has continuous awareness of the working environment, providing a reliable data foundation for subsequent automated decision-making. The ranging radar 12 maintains extremely high ranging accuracy even under complex bridge surface conditions such as dust, variable lighting, or nighttime construction. This ensures that the early warning system can effectively perform its duties in various extreme weather conditions and time periods, greatly improving the environmental adaptability and robustness of the operating system's space defense.

[0066] When the radar detects an impassable obstacle, the signal is instantly transmitted to the controller, replacing reliance on visual judgment and manual braking. This closed-loop mechanism of detection-transmission-execution eliminates human reaction delays, ensuring the system can quickly transition from power-driven to braking before the obstacle threat escalates into an accident. The controller does not brake blindly, but precisely controls the carrier trolley 1 to a steady stop within a preset safe distance based on distance data fed back by the radar. This controlled stopping process avoids mechanical impacts caused by emergency obstacle avoidance, protecting not only the vehicle structure and expensive electronic components, but more importantly, preventing structural damage or material spillage to the cantilever 7 and coating head 8 due to violent shaking.

[0067] Furthermore, it also includes a weighing device 5 installed between the storage tank and the carrying trolley 1, for real-time monitoring of the weight of the waterproof adhesive material in the storage tank 2 and transmitting the monitored weight data to the controller. When the remaining amount of waterproof adhesive material in the storage tank 2 is insufficient, the controller issues an audible signal and controls the carrying trolley 1 to pause.

[0068] By integrating the weighing device 5 between the storage tank 2 and the carrying trolley 1, the system achieves direct physical quantification of the material storage status. The weighing device 5 converts the physical weight of the waterproof adhesive material inside the tank into an electrical signal in real time and transmits it to the controller. This feature allows the system to continuously acquire the absolute value of the remaining material, providing a precise data source for subsequent process decisions and ensuring the transparency of construction parameters. By monitoring weight data in real time, the system can calculate the instantaneous material consumption during construction and, combined with the mileage feedback from the navigation system, verify in real time whether the actual coating rate meets the design requirements. This weight-based feedback mechanism not only improves the precision of material management but also provides a scientific basis for the later evaluation of construction quality.

[0069] The weighing device 5 triggers an audible warning and forces the carrying trolley 1 to stop just before the material is about to run out. This feature effectively prevents the system from dry spraying or interrupting spraying due to material depletion, avoids leaving hard-to-detect weak points or holes in the waterproof layer, and ensures the physical continuity and structural integrity of the waterproof membrane.

[0070] Furthermore, for pressure system 4, no-load operation may cause air to enter the pump body or pipeline, leading to cavitation or pressure fluctuations. The automatic pause mechanism triggered by weighing feedback ensures that the delivery pipeline 14 is always filled with waterproof adhesive material, protecting the normal operation of pressure system 4 and coating head 8, and reducing the risk of construction splashes caused by air mixing.

[0071] Furthermore, one end of the cantilever 7 is hinged to the carrier body and the other end is hinged to the output shaft of the electric push rod. The electric push rod is hinged to the carrier body to adjust the angle of the cantilever 7, thereby adjusting the height of the coating head 8 and the spraying angle. The coating head 8 has a flat nozzle. The uniform coating brush 9 is made of nylon bristles, and the width of the brush is matched with the nozzle arrangement range of the coating head 8. The uniform coating brush 9 is connected to the cantilever 7 through a spring assembly to automatically adjust the contact pressure between the uniform coating brush 9 and the bridge surface, so as to ensure uniform coating.

[0072] The cantilever 7 adopts a telescopic and foldable carbon fiber structure, which can be composed of multiple nested square or round tubes of different diameters. The inner tube slides within the outer tube under the action of the drive device, thus enabling the cantilever 7 to extend and retract. The extension range of the cantilever 7 is 0.2~0.5m, and the angle adjustment range is 0~90°, facilitating the application of waterproof adhesive materials during turns. The height adjustment range is 0.1~0.3m (0.1m off the ground during operation for application; raised to 0.3m off the ground when work is stopped or completed). It features automatic drive and precise response; coating... The nozzle of head 8 is a flat nozzle with a nozzle width of 0.02m. The coating head 8 contains multiple nozzles arranged in a row. All or some of the nozzles can be opened to adapt to the coating needs of bridge decks of different widths. Therefore, the number of nozzles that can be opened in the coating head 8 can be adjusted. In addition, the flow rate of each nozzle in the coating head 8 can also be adjusted. The uniform coating brush 9 is made of highly elastic nylon bristles. The width of the brush is matched with the nozzle arrangement range of the coating head 8. It is connected to the cantilever 7 through a spring assembly and can automatically adjust the contact pressure with the bridge deck to ensure a consistent uniform coating effect.

[0073] The combination of the electric actuator and cantilever 7 enables stepless adjustment of the height and spraying angle of the coating head 8. The electric actuator can precisely adjust the angle of the cantilever 7 according to construction instructions, thereby changing the vertical height of the coating head 8 from the bridge deck. For polymer materials such as second-order reactive epoxy resin adhesives, this height directly determines the kinetic energy of the spray reaching the substrate and the atomization distribution area. By precisely controlling the height, it can be ensured that the droplets penetrate into the micropores of the concrete with optimal impact force, improving physical anchoring performance. Adjusting the spraying angle can effectively address the construction needs of the bridge deck's cross slope or specific edge areas. In open-air conditions with varying wind speeds, adjusting the spraying angle can compensate for wind resistance deviation, ensuring that the material falls precisely within the predetermined trajectory and maintaining the neatness of the waterproof layer boundary.

[0074] The flat design of the coating head 8 generates a high-energy-density jet stream with excellent lateral uniformity in flow distribution. This spraying mode not only reduces ridge buildup in overlapping areas but also ensures that the waterproofing material has a good leveling baseline in the early stages of film formation, resulting in a smooth macroscopic morphology. The adjustable structure of the coating head 8 allows for fine-tuning of the nozzle gap based on the real-time viscosity of the waterproofing adhesive (affected by ambient temperature), thereby optimizing the shear rate without changing the system pressure and ensuring that the polymer chains maintain a stable physicochemical state during spraying.

[0075] The width of the even-coating brush 9 is perfectly matched to the height of the spray range, ensuring perfect synchronization between spraying and brushing in physical space. This design avoids blind spots at the coating edges, ensuring that the waterproofing material sprayed on the bridge surface is immediately spread by the mechanical action of the bristles of the even-coating brush 9, achieving homogenization of the coating across its entire width. The brush uses nylon bristles, leveraging nylon's excellent chemical stability and mechanical elasticity. When facing highly polar epoxy resin systems, nylon bristles are less prone to swelling or degradation, maintaining stable brush stiffness over a long period, ensuring consistent construction quality over time.

[0076] The bridge deck substrate (after shot blasting) exhibits macroscopic unevenness. The spring assembly provides dynamic stroke compensation, allowing the uniform coating brush 9 to automatically move up and down with the undulations of the substrate. This adaptive mechanism ensures a constant contact pressure between the brush bristles and the bridge deck, preventing insufficient pressure in low-lying areas leading to coating accumulation, or excessive pressure in high-lying areas resulting in an insufficiently thick film. Constant contact pressure is crucial for thickness control. The uniform clamping force applied by the spring forcibly presses the polymer coating into the capillary pores of the concrete, while simultaneously smoothing surface bumps, creating a microscopic peak-valley filling effect in the waterproofing layer. This significantly enhances the overall adhesion and shear resistance between the waterproofing membrane and the substrate.

[0077] The controller of this invention is installed on the carrier trolley 1 and is electrically connected to the pressure system 4, temperature control system, coating system, navigation and positioning system, monitoring and early warning system, and power supply system. The controller can automatically calculate and adjust the spraying flow rate and the travel speed of the carrier trolley 1 according to the set coating rate (coating quality per square meter) to ensure the coating effect. At the same time, the controller can receive monitoring data from the weighing device 5, issue an audible signal to replenish the waterproof adhesive material when the remaining amount is insufficient, and control the equipment to pause the coating. After the waterproof adhesive material is replenished, the controller can control the equipment to resume the coating operation. In addition, the controller can control the carrier trolley 1 to travel along the set route according to the route planned by the navigation and positioning system, and automatically stop after completing the coating operation. The power supply system is a battery pack 13, installed on the carrier trolley 1, which is used to provide power support for the operation of each system.

[0078] According to another aspect of the present invention, a coating method for the aforementioned intelligent coating system for bridge deck waterproofing is also provided, comprising the following steps: 1) The bridge deck is swept, shot-blasted, and cleaned thoroughly. Multiple electronic beacons are placed at the corners of the area to be coated. Sweeping and shot-blasting physically remove surface laitance and impurities, increasing the micro-roughness of the concrete surface. This step ensures that the subsequently sprayed polymer adhesive can form a high-strength mechanical interlock with the substrate, guaranteeing the shear resistance of the waterproof layer from the source. By placing electronic beacons at the four corners, this method establishes an absolute spatial reference for all subsequent automated actions. This on-site positioning mechanism ensures the digitization of the work area boundary, providing the geometric prerequisite for high-precision, full-coverage construction.

[0079] 2) Open the sealing cap 3 of the storage tank 2, add the stirred waterproof adhesive material into the storage tank 2, close the sealing cap 3, set the coating rate parameter through the controller, and move the carrier trolley 1 to the starting point of the coating route. 3) The controller identifies the signals emitted by each of the electronic beacons, automatically delineates the coating area and plans the coating route, and starts after confirming that there are no errors; Before the actual operation, the controller calculates the optimal driving trajectory based on the set coating rate parameters and the defined geometric area. This automated planning avoids the uncertainties of human operation, ensures the scientific nature of the path overlap, and makes the waterproof layer have macroscopic uniformity throughout the entire area.

[0080] The automatically planned routes achieve the most effective coverage of the work area, reduce unnecessary back-and-forth travel, shorten the construction cycle, and provide path assurance for the efficient use of materials.

[0081] 4) The controller adjusts the pressure intensity of the pressure system 4 and the travel speed of the carrier trolley 1 according to the set coating rate. The attitude of the cantilever 7 is controlled by an electric actuator installed between the cantilever and the carrier body, thereby adjusting the height and angle of the coating head 8. By coupling the pressure intensity of the pressure system 4 (which determines the spray flow rate) with the trolley speed in real time, this method ensures that the material coverage per unit area remains constant regardless of changes in the construction environment. This dynamic compensation mechanism greatly improves the consistency of the coating thickness. By controlling the attitude (height and angle) of the cantilever 7 with the electric actuator, this method can adjust the flight path and landing shape of the spray in real time according to the material characteristics. This adjustment effect ensures that the material can impact and penetrate into the micropores of the substrate with optimal kinetic energy, further strengthening the interfacial adhesion.

[0082] 5) The waterproof adhesive material in storage tank 2 is conveyed to the coating head 8 via conveying pipe 14. The coating head 8 applies the waterproof adhesive material to the bridge surface, and the even-applying brush 9 simultaneously smooths the waterproof adhesive material on the bridge surface. The synchronicity of spraying and brushing ensures that the even-applying brush 9 intervenes during the golden window period before the viscosity of polymer materials such as epoxy resin increases. The mechanical force applied by the brushing action effectively removes trace amounts of air between interfaces and forces the material into the micropores, achieving densification and micro-anchoring effect of the waterproof membrane. The synchronous smoothing mechanism eliminates the peaks that may be generated by spraying, making the surface of the waterproof layer smooth, reducing internal stress concentration, and enhancing the overall durability of the waterproof layer.

[0083] 6) Once the coating of all areas to be coated is completed, or the waterproof adhesive material in storage tank 2 is used up, the carrying trolley 1 will automatically stop. During operation, the weighing device 5 monitors the remaining amount of adhesive in real time. When the remaining amount of adhesive drops to 1kg, the buzzer will sound an audible message "Insufficient adhesive, please replenish," and the equipment will pause operation. After the operator opens the sealing cover 3 to replenish the adhesive, they can click the resume button to continue operation. If the ranging radar 12 detects a construction tool 3m ahead, it will immediately issue an audible warning. When the equipment travels to a distance of 0.2m from the tool, it will automatically stop. After the operator removes the tool, the equipment will resume operation.

[0084] This coating method organically combines refined pretreatment, digital parameter-driven processes, multi-dimensional dynamic compensation, and synchronized construction intervention, fundamentally changing the spread of polymer waterproofing materials at the physical level. Its technological benefits are not only reflected in a leap in construction efficiency, but also in the standardization and intelligentization of the process, which fundamentally ensures the mechanical properties and durability of the bridge deck waterproofing layer in complex three-dimensional environments.

[0085] To address the problems of low efficiency, uneven coating, poor low-temperature adaptability, inaccurate route planning, and lack of material monitoring in existing bridge deck two-stage reactive epoxy resin adhesive waterproofing bonding layer coating equipment, this invention provides an intelligent bridge deck waterproofing layer coating system and workflow, realizing the automation, precision, and intelligence of coating operations, improving construction efficiency and waterproofing bonding layer construction quality, and ensuring construction continuity.

[0086] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A smart coating system for bridge deck waterproofing, characterized in that, Includes a carrier trolley and a material storage system and a coating system jointly mounted on the carrier trolley, wherein: The carrier trolley includes a carrier body, a power unit and multiple wheels mounted on the carrier body, and the power unit is connected to each of the wheels to drive each wheel to rotate, thereby adjusting the travel speed of the carrier body. The storage system includes storage tanks for storing waterproof adhesive materials; The coating system includes a cantilever, a coating head, and a leveling brush. The cantilever is mounted on the carrying trolley, and the coating head and the leveling brush are mounted side by side on the cantilever. The coating head includes multiple nozzles arranged in a row along a straight line parallel to the centerline of the traveling wheels. The coating head is connected to the storage tank via a delivery pipe for spraying waterproof adhesive material onto the bridge deck. The distance from the leveling brush to the rear end of the carrying trolley is less than the distance from the coating head to the rear end of the carrying trolley, so that the waterproof adhesive material sprayed onto the bridge deck by the coating head can be brushed onto the bridge deck during the forward movement of the carrying trolley.

2. The intelligent coating system for bridge deck waterproofing layer according to claim 1, characterized in that, It also includes a navigation and positioning system, which includes multiple electronic beacons placed at the four corners of the area to be coated. The controller identifies the signals emitted by these electronic beacons to realize the delineation of the area to be coated and the automatic planning of the coating route.

3. The intelligent coating system for bridge deck waterproofing layer according to claim 2, characterized in that, The delineation of the coating area and the automatic planning of the coating route are as follows: 1) Electronic beacons are placed at the four corners of the area to be coated on the bridge deck, and the controller on the trolley establishes a local coordinate system; The controller obtains the coordinates of the electronic beacons set at the four corners of the area to be coated, namely the coordinates of the first electronic beacon XB1 (X1,Y1), the second electronic beacon XB2 (X1,Y2), the third electronic beacon XB3 (X2,Y3), and the fourth electronic beacon XB4 (X2,Y4). The line connecting the first electronic beacon and the fourth electronic beacon is line segment a, the line connecting the second electronic beacon and the third electronic beacon is line segment b, the line connecting the first electronic beacon and the second electronic beacon is line segment c, and the line connecting the third electronic beacon and the fourth electronic beacon is line segment d. Let the simply connected region enclosed by line segments a, b, c and d be the area to be coated. Take the direction parallel to line segment c as the main driving direction of the trolley, and the directions parallel to line segment a and line segment b as the secondary driving directions; 2) Define the distance between line segment c and line segment d as the width W of the area to be coated, then W = X2 - X1; the width of a single coating pass in the coating system is w. t The number of paint lines in the main driving direction is n, where n = W / w t ; 3) The coating route is composed of multiple navigation points connected together. The navigation starting point of the coating route is defined as d. s The navigation destination is d. e Set navigation starting point d s On line segment a; If the number of painted paths n is odd, then the navigation endpoint d e Located on line segment b; If the number of painted paths n is even, then the navigation endpoint d e Located on line segment a; 4) The coordinates of the navigation start point, navigation end point, and each navigation point between the navigation start point and navigation end point on the coating route are calculated according to the following formula: 4.1) Navigation starting point d s coordinates ( , )as follows: ； 4.2) Navigation destination d e coordinates ( , )as follows: When it is an odd number: ; When it is even: ; 4.3) Each navigation point adjacent to line segment a is defined as da. i Where i takes the value 1, 2, 3...n-1 or 1, 2, 3...n-2, and when n is odd, the maximum value of i is n-1, and when n is even, the maximum value of i is n-2; Then the navigation points da of the adjacent line segment a i coordinates ( , )as follows: ； 4.4) Each navigation point adjacent to line segment b is defined as db. j ,in The value of is 1, 2, 3...n-1; then the navigation points db of the adjacent line segment b... j coordinates ( , The calculation is as follows: 。 4. The intelligent coating system for bridge deck waterproofing layer according to claim 1, characterized in that, It also includes a pressure system for introducing gas into the storage tank to increase the gas pressure inside the storage tank in order to control the spraying flow rate of the coating head. The controller automatically calculates and adjusts the spraying flow rate of the coating head and the travel speed of the carrier trolley based on the set coating rate.

5. The intelligent coating system for bridge deck waterproofing layer according to claim 4, characterized in that, The relationship between the traveling speed V of the carrier trolley and the spraying flow rate Q of the coating head is as follows: ； Where Q is the spray flow rate of the coating head, in meters per second (m³). 3 / min; A represents the epoxy resin coating rate of the bridge deck, in kg / m². 2 ; B is the width of the uniform coating brush, which is parallel to the center line of the traveling wheel, and the unit is meters. ρ represents the density of the waterproof adhesive material, in kg / m³. 3 .

6. The intelligent coating system for bridge deck waterproofing layer according to claim 1, characterized in that, It also includes a temperature control system, which consists of an automatic heating device surrounding the storage tank and a temperature sensor located at the bottom of the storage tank. The temperature sensor transmits the detected temperature to a controller, which controls the automatic heating device to heat the storage tank based on the temperature detected by the temperature sensor, thereby heating the waterproof adhesive material inside the storage tank.

7. The intelligent coating system for bridge deck waterproofing layer according to claim 1, characterized in that, It also includes a monitoring and early warning system, which includes a ranging radar installed at the front of the carrier vehicle. The ranging radar is used to monitor obstacles in front of the carrier vehicle in real time. When the ranging radar detects an obstacle that cannot be passed, it transmits the detection signal to the controller, which issues an audible warning and controls the carrier vehicle to stop within a safe distance.

8. The intelligent coating system for bridge deck waterproofing layer according to claim 1, characterized in that, It also includes a weighing device installed between the storage tank and the carrying trolley to monitor the weight of the waterproof adhesive material in the storage tank in real time and transmit the monitored weight data to the controller. When the remaining amount of waterproof adhesive material in the storage tank is insufficient, the controller issues an audible signal and controls the carrying trolley to stop.

9. The intelligent coating system for bridge deck waterproofing layer according to claim 1, characterized in that, One end of the cantilever is hinged to the carrier body, and the other end is hinged to the output shaft of the electric push rod. The electric push rod is hinged to the carrier body to adjust the angle of the cantilever, thereby adjusting the height of the coating head and the spraying angle. The coating head uses a flat nozzle. The uniform coating brush is made of nylon bristles, and the width of the brush is matched with the nozzle arrangement range of the coating head. The uniform coating brush is connected to the cantilever via a spring assembly to automatically adjust the contact pressure between the uniform coating brush and the bridge surface, ensuring uniform and consistent coating.

10. A coating method for a bridge deck waterproofing layer intelligent coating system according to any one of claims 1 to 9, characterized in that, Includes the following steps: 1) Clean the bridge surface by sweeping, shot blasting and cleaning, and place multiple electronic beacons at the corners of the area to be coated; 2) Open the sealed lid of the storage tank, add the stirred waterproof adhesive material into the storage tank, close the sealed lid, set the coating rate parameter through the controller, and move the carrier trolley to the starting point of the coating route; 3) The controller identifies the signals emitted by each of the electronic beacons, automatically delineates the coating area and plans the coating route, and starts after confirming that there are no errors; 4) The controller adjusts the pressure intensity of the pressure system and the travel speed of the carrier trolley according to the set coating rate, and controls the posture of the cantilever by an electric push rod installed between the cantilever and the carrier body, thereby adjusting the height and angle of the coating head; 5) The waterproof adhesive material in the storage tank is transported to the coating head through the conveying pipeline. The coating head applies the waterproof adhesive material to the bridge surface, and the brush simultaneously smooths the waterproof adhesive material on the bridge surface. 6) Once the coating of all areas to be coated is completed, or once the waterproof adhesive material in the storage tank is used up, the carrying trolley will automatically stop.

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